Immersive augmented reality experiences using spatial audio

ABSTRACT

Systems, devices, media, and methods are presented for an immersive augmented reality (AR) experience using an eyewear device with spatial audio. The eyewear device has a processor, a memory, an image sensor, and speakers. The eyewear device captures image information for an environment surrounding the device, identifies a match between objects in the image information and predetermined objects in previously obtained information for the same environment. The eyewear device then identifies a target location within the environment, which may be associated with a physical or a virtual object. The eyewear device monitors its orientation with respect to the target location and presents audio signals to guide the user toward the target location.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a Continuation of U.S. application Ser. No.17/342,031 filed on Jun. 8, 2021, which is a Continuation of U.S.application Ser. No. 16/836,363 filed on Mar. 31, 2020, now U.S. Pat.No. 11,089,427, which are incorporated herein by reference in theirentirety.

TECHNICAL FIELD

Examples set forth in the present disclosure relate to portableelectronic devices, including wearable devices such as eyewear, havingspatial audio feedback for guiding a user within an environment.

BACKGROUND

Many types of computers and electronic devices available today, such asmobile devices (e.g., smartphones, tablets, and laptops), handhelddevices (e.g., smart rings, special-purpose accessories), and wearabledevices (e.g., smart glasses, digital eyewear, headwear, headgear, andhead-mounted displays), include a variety of sensors, wirelesstransceivers, input systems (e.g., touch-sensitive surfaces, pointers),peripheral devices, output devices (e.g., speakers), displays, andgraphical user interfaces (GUIs) through which a user can interact withdisplayed content.

BRIEF DESCRIPTION OF THE DRAWINGS

Features of the various examples described will be readily understoodfrom the following detailed description, in which reference is made tothe figures. A reference numeral is used with each element in thedescription and throughout the several views of the drawing. When aplurality of similar elements is present, a single reference numeral maybe assigned to like elements, with an added lower-case letter referringto a specific element.

The various elements shown in the figures are not drawn to scale unlessotherwise indicated. The dimensions of the various elements may beenlarged or reduced in the interest of clarity. The several figuresdepict one or more non-limiting examples. Included in the drawing arethe following figures:

FIG. 1A is a side view (right) of an example hardware configuration ofan eyewear device suitable for use in an augmented reality system;

FIG. 1B is a top, partly sectional view of a right corner of the eyeweardevice of FIG. 1A depicting a right visible-light camera, and a circuitboard;

FIG. 1C is a side view (left) of an example hardware configuration ofthe eyewear device of FIG. 1A, which shows a left visible-light camera;

FIG. 1D is a top, partly sectional view of a left corner of the eyeweardevice of FIG. 1C depicting the left visible-light camera, and a circuitboard;

FIGS. 2A and 2B are rear views of example hardware configurations of aneyewear device utilized in an augmented reality system;

FIG. 3 is a diagrammatic depiction of a three-dimensional scene, a leftraw image captured by a left visible-light camera, and a right raw imagecaptured by a right visible-light camera;

FIG. 4A is a functional block diagram of an example augmented realitysystem including a wearable device (e.g., an eyewear device), anotherelectronic device, and a server system connected via various networks;

FIG. 4B is a flow diagram of an aspect of an augmented reality system;

FIG. 4C is a functional block diagram of a “smart component” for use inone example of the augmented reality system;

FIG. 5 is a diagrammatic representation of an example hardwareconfiguration for a mobile device of the augmented reality system ofFIG. 4A;

FIGS. 6A and 6B are illustrations for use is describing natural featuretracking, simultaneous localization and mapping, and spatial audio;

FIGS. 7A and 7B are flowcharts of an example method for providing aphysical output that varies as the position of the eyewear devicechanges;

FIG. 8 is a flowchart of an example set up method for the eyewear devicein an environment; and

FIG. 9A, 9B, and 9C are illustrations depicting an example use of theeyewear device.

DETAILED DESCRIPTION

Examples of a system for providing an immersive AR experience withspatial audio are disclosed. The system includes an eyewear device thathas a processor, a memory, an image sensor, and speakers. The memory hasprogramming that, when executed by the processor, captures imageinformation for an environment surrounding the device, identifies amatch between objects in the image information and predetermined objectsin previously obtained information for the same environment. The eyeweardevice then identifies a target location within the environment (whichmay be associated with a physical or a virtual object). The eyeweardevice monitors its orientation with respect to the target location andpresents audio signals to guide the user toward the target location.

The following detailed description includes systems, methods,techniques, instruction sequences, and computing machine programproducts illustrative of examples set forth in the disclosure. Numerousdetails and examples are included for the purpose of providing athorough understanding of the disclosed subject matter and its relevantteachings. Those skilled in the relevant art, however, may understandhow to apply the relevant teachings without such details. Aspects of thedisclosed subject matter are not limited to the specific devices,systems, and method described because the relevant teachings can beapplied or practiced in a variety of ways. The terminology andnomenclature used herein is for the purpose of describing particularaspects only and is not intended to be limiting. In general, well-knowninstruction instances, protocols, structures, and techniques are notnecessarily shown in detail.

The term “coupled” or “connected” as used herein refers to any logical,optical, physical, or electrical connection, including a link or thelike by which the electrical or magnetic signals produced or supplied byone system element are imparted to another coupled or connected systemelement. Unless described otherwise, coupled or connected elements ordevices are not necessarily directly connected to one another and may beseparated by intermediate components, elements, or communication media,one or more of which may modify, manipulate, or carry the electricalsignals. The term “on” means directly supported by an element orindirectly supported by the element through another element integratedinto or supported by the element.

The orientations of the eyewear device, the handheld device, associatedcomponents and any other complete devices incorporating a camera or aninertial measurement unit such as shown in any of the drawings, aregiven by way of example only, for illustration and discussion purposes.In operation, the eyewear device may be oriented in any other directionsuitable to the particular application of the eyewear device; forexample, up, down, sideways, or any other orientation. Also, to theextent used herein, any directional term, such as front, rear, inward,outward, toward, left, right, lateral, longitudinal, up, down, upper,lower, top, bottom, side, horizontal, vertical, and diagonal are used byway of example only, and are not limiting as to the direction ororientation of any camera or inertial measurement unit as constructed asotherwise described herein.

Additional objects, advantages and novel features of the examples willbe set forth in part in the following description, and in part willbecome apparent to those skilled in the art upon examination of thefollowing and the accompanying drawings or may be learned by productionor operation of the examples. The objects and advantages of the presentsubject matter may be realized and attained by means of themethodologies, instrumentalities and combinations particularly pointedout in the appended claims.

Reference now is made in detail to the examples illustrated in theaccompanying drawings and discussed below.

FIG. 1A is a side view (right) of an example hardware configuration ofan eyewear device 100 which includes a touch-sensitive input device ortouchpad 181. As shown, the touchpad 181 may have a boundary that issubtle and not easily seen; alternatively, the boundary may be plainlyvisible or may include a raised or otherwise tactile edge that providesfeedback to the user about the location and boundary of the touchpad181. In other examples, the eyewear 100 may include a touchpad on theleft side.

The surface of the touchpad 181 is configured to detect finger touches,taps, and gestures (e.g., moving touches) for use with a GUI displayedby the eyewear, on an image display, to allow the user to navigatethrough and select menu options in an intuitive manner, which enhancesand simplifies the user experience.

Detection of finger inputs on the touchpad 181 can enable severalfunctions. For example, touching anywhere on the touchpad 181 may causethe GUI to display or highlight an item on the image display, which maybe projected onto at least one of the optical assemblies 180A, 180B.Double tapping on the touchpad 181 may select an item or icon. Slidingor swiping a finger in a particular direction (e.g., from front to back,back to front, up to down, or down to) may cause the items or icons toslide or scroll in a particular direction; for example, to move to anext item, icon, video, image, page, or slide. Sliding the finger inanother direction may slide or scroll in the opposite direction; forexample, to move to a previous item, icon, video, image, page, or slide.The touchpad 181 can be virtually anywhere on the eyewear device 100.

In one example, an identified finger gesture of a single tap on thetouchpad 181 initiates selection or pressing of a graphical userinterface element in the image presented on the image display of theoptical assembly 180A, 180B. An adjustment to the image presented on theimage display of the optical assembly 180A, 180B based on the identifiedfinger gesture can be a primary action which selects or submits thegraphical user interface element on the image display of the opticalassembly 180A, 180B for further display or execution.

As shown, the eyewear device 100 includes a right visible-light camera114B. As further described herein, two cameras 114A, 114B capture imageinformation for a scene from two separate viewpoints. The two capturedimages may be used to project a three-dimensional display onto an imagedisplay for viewing with 3D glasses.

Additionally, the eyewear device 100 includes a left front speaker 191a, a right front speaker 191 b, a left rear speaker 191 c, and a rightrear speaker 191 d. The speakers 191 are positioned at various locationsaround the eyewear 100 to present directional audio zones for guiding auser wearing the eyewear device 100. For example, presenting an audiosignal from both rear speakers 191 c, d generates a rear directionalaudio zone indicating a target is behind the wearer, presenting an audiosignal from the right rear speakers 191 d generates a right-reardirectional audio zone indicating a target is behind the wearer to theright, and presenting an audio signal from right front speaker 191 b andthe right rear speaker 191 d generates a right side directional audiozone indicating a target is to the right of the wearer. Volume of theaudio signal may be adjusted to indicate proximity to a target with thevolume increasing as the wear gets closer to the target. Additionally,relative volume among speakers may be set to provide more zones. Forexample, presenting an audio signal from the right front speaker 191 band the right rear speaker 191 d where the volume is louder from rightrear speaker generates a right side and back directional audio zoneindicating a target is to the right and back of the wearer, but not asfar behind the wearer as when the signal is only presented by the rightrear speaker 191 d.

The eyewear device 100 includes a right optical assembly 180B with animage display to present images, such as depth images. As shown in FIGS.1A and 1B, the eyewear device 100 includes the right visible-lightcamera 114B. The eyewear device 100 can include multiple visible-lightcameras 114A, 114B that form a passive type of three-dimensional camera,such as stereo camera, of which the right visible-light camera 114B islocated on a right corner 110B. As shown in FIGS. 1C-D, the eyeweardevice 100 also includes a left visible-light camera 114A.

Left and right visible-light cameras 114A, 114B are sensitive to thevisible-light range wavelength. Each of the visible-light cameras 114A,114B have a different frontward facing field of view which areoverlapping to enable generation of three-dimensional depth images, forexample, right visible-light camera 114B depicts a right field of view111B. Generally, a “field of view” is the part of the scene that isvisible through the camera at a particular position and orientation inspace. The fields of view 111A and 111B have an overlapping field ofview 304 (FIG. 3 ). Objects or object features outside the field of view111A, 111B when the visible-light camera captures the image are notrecorded in a raw image (e.g., photograph or picture). The field of viewdescribes an angle range or extent, which the image sensor of thevisible-light camera 114A, 114B picks up electromagnetic radiation of agiven scene in a captured image of the given scene. Field of view can beexpressed as the angular size of the view cone, i.e., an angle of view.The angle of view can be measured horizontally, vertically, ordiagonally.

In an example, visible-light cameras 114A, 114B have a field of viewwith an angle of view between 15° to 30°, for example 24°, and have aresolution of 480×480 pixels. The “angle of coverage” describes theangle range that a lens of visible-light cameras 114A, 114B or infraredcamera 410 (see FIG. 4A) can effectively image. Typically, the cameralens produces an image circle that is large enough to cover the film orsensor of the camera completely, possibly including some vignetting(e.g., a darkening of the image toward the edges when compared to thecenter). If the angle of coverage of the camera lens does not fill thesensor, the image circle will be visible, typically with strongvignetting toward the edge, and the effective angle of view will belimited to the angle of coverage.

Examples of such visible-light cameras 114A, 114B include ahigh-resolution complementary metal-oxide-semiconductor (CMOS) imagesensor and a digital VGA camera (video graphics array) capable ofresolutions of 640p (e.g., 640×480 pixels for a total of 0.3megapixels), 720p, or 1080p. Other examples of visible-light cameras114A, 114B that can capture high-definition (HD) still images and storethem at a resolution of 1642 by 1642 pixels (or greater); or recordhigh-definition video at a high frame rate (e.g., thirty to sixty framesper second or more) and store the recording at a resolution of 1216 by1216 pixels (or greater).

The eyewear device 100 may capture image sensor data from thevisible-light cameras 114A, 114B along with geolocation data, digitizedby an image processor, for storage in a memory. The visible-lightcameras 114A, 114B capture respective left and right raw images in thetwo-dimensional space domain that comprise a matrix of pixels on atwo-dimensional coordinate system that includes an X-axis for horizontalposition and a Y-axis for vertical position. Each pixel includes a colorattribute value (e.g., a red pixel light value, a green pixel lightvalue, and a blue pixel light value); and a position attribute (e.g., anX-axis coordinate and a Y-axis coordinate).

In order to capture stereo images for later display as athree-dimensional projection, the image processor 412 (shown in FIG. 4A)may be coupled to the visible-light cameras 114A, 114B to receive andstore the visual image information. The image processor 412 or anotherprocessor, which controls operation of the visible-light cameras 114A,114B to act as a stereo camera simulating human binocular vision, mayadd a timestamp to each image. The timestamp on each pair of imagesallows display of the images together as part of a three-dimensionalprojection. Three-dimensional projections produce an immersive,life-like experience that is desirable in a variety of contexts,including virtual reality (VR) and video gaming.

FIG. 3 is a diagrammatic depiction of a three-dimensional scene 306, aleft raw image 302A captured by a left visible-light camera 114A, and aright raw image 302B captured by a right visible-light camera 114B. Theleft field of view 111A may overlap, as shown, with the right field ofview 111B. The overlapping field of view 304 represents that portion ofthe image captured by both cameras 114A, 114B. The term ‘overlapping’when referring to field of view means the matrix of pixels in thegenerated raw images overlap by thirty percent (30%) or more.‘Substantially overlapping’ means the matrix of pixels in the generatedraw images—or in the infrared image of scene—overlap by fifty percent(50%) or more. As described herein, the two raw images 302A, 302B may beprocessed to include a timestamp, which allows the images to bedisplayed together as part of a three-dimensional projection.

For the capture of stereo images, as illustrated in FIG. 3 , a pair ofraw red, green, and blue (RGB) images are captured of a real scene 306at a given moment in time—a left raw image 302A captured by the leftcamera 114A and right raw image 302B captured by the right camera 114B.When the pair of raw images 302A, 302B are processed (e.g., by the imageprocessor 412), depth images are generated. The generated depth imagesmay be viewed on an optical assembly 180A, 180B of an eyewear device, onanother display (e.g., the image display 580 on a mobile device 401), oron a screen.

The generated depth images are in the three-dimensional space domain andcan comprise a matrix of vertices on a three-dimensional locationcoordinate system that includes an X axis for horizontal position (e.g.,length), a Y axis for vertical position (e.g., height), and a Z axis fordepth (e.g., distance). Each vertex may include a color attribute (e.g.,a red pixel light value, a green pixel light value, or a blue pixellight value); a position attribute (e.g., an X location coordinate, a Ylocation coordinate, and a Z location coordinate); a texture attributeor a reflectance attribute. The texture attribute quantifies theperceived texture of the depth image, such as the spatial arrangement ofcolor or intensities in a region of vertices of the depth image.

In one example, the eyewear device 100 includes a frame 105, a lefttemple 110A extending from a left lateral side 170A of the frame 105,and a right temple 125B extending from a right lateral side 170B of theframe 105. The left camera 114A is connected to the frame 105, the lefttemple 125B, or the left corner 110A to capture a left raw image 302Afrom the left side of scene 306. The right camera 114B is connected tothe frame 105, the right corner 110A, or the right temple 125B tocapture a right raw image 302B from the right side of scene 306.

The left temple 125A has a proximal end adjacent a first side of theframe 105 and a distal end. The right temple 125B has a proximal endadjacent a second side of the frame 105 and a distal end. The left frontspeaker 191a is positioned adjacent the proximal end of the left temple125A (e.g., on the left temple 125A, on the first/left side of the frame105, or on the left corner 110A as illustrated). The right front speaker191b is positioned adjacent the proximal end of the right temple 125B(e.g., on the right temple 125B, on the second/right side of the frame105, or on the right corner 110B as illustrated). The left rear speaker191c is positioned adjacent the distal end of the left temple 125A(e.g., on the left temple 125A as illustrated). The right rear speaker191d is positioned adjacent the distal end of the right temple 125B(e.g., on the right temple 125B as illustrated).

FIG. 1B is a top cross-sectional view of a right corner 110B of theeyewear device 100 of FIG. 1A depicting the right visible-light camera114B of the camera system, and a circuit board. FIG. 1C is a side view(left) of an example hardware configuration of an eyewear device 100 ofFIG. 1A, which shows a left visible-light camera 114A of the camerasystem. FIG. 1D is a top cross-sectional view of a left corner 110A ofthe eyewear device of FIG. 1C depicting the left visible-light camera114A of the three-dimensional camera, and a circuit board 140A.Construction and placement of the left visible-light camera 114A issubstantially similar to the right visible-light camera 114B, except theconnections and coupling are on the left lateral side 170A. As shown inthe example of FIG. 1B, the eyewear device 100 includes the rightvisible-light camera 114B and a circuit board 140B, which may be aflexible printed circuit board (PCB). The right hinge 126B connects theright corner 110B to a right temple 125B of the eyewear device 100.Similarly, the left hinge 126A connects the left corner 110A to a lefttemple 125A of the eyewear device 100. In some examples, components ofthe right visible-light camera 114B, the flexible PCB 140B, or otherelectrical connectors or contacts may be located on the right temple125B or the right hinge 126B.

The right corner 110B includes corner body 190 and a corner cap, withthe corner cap omitted in the cross-section of FIG. 1B. Disposed insidethe right corner 110B are various interconnected circuit boards, such asPCBs or flexible PCBs, that include controller circuits for rightvisible-light camera 114B, microphone(s), low-power wireless circuitry(e.g., for wireless short range network communication via Bluetooth™),high-speed wireless circuitry (e.g., for wireless local area networkcommunication via WiFi).

The right visible-light camera 114B is coupled to or disposed on theflexible PCB 140B and covered by a visible-light camera cover lens,which is aimed through opening(s) formed in the frame 105. For example,the right rim 107B of the frame 105, shown in FIG. 2A, is connected tothe right corner 110B and includes the opening(s) for the visible-lightcamera cover lens. The frame 105 includes a front side configured toface outward and away from the eye of the user. The opening for thevisible-light camera cover lens is formed on and through the front oroutward-facing side of the frame 105. In the example, the rightvisible-light camera 114B has an outward-facing field of view 111B(shown in FIG. 3 ) with a line of sight or perspective that iscorrelated with the right eye of the user of the eyewear device 100. Thevisible-light camera cover lens can also be adhered to a front side oroutward-facing surface of the right corner 110B in which an opening isformed with an outward-facing angle of coverage, but in a differentoutwardly direction. The coupling can also be indirect via interveningcomponents.

As shown in FIG. 1B, flexible PCB 140B is disposed inside the rightcorner 110B and is coupled to one or more other components housed in theright corner 110B. Although shown as being formed on the circuit boardsof the right corner 110B, the right visible-light camera 114B can beformed on the circuit boards of the left corner 110A, the temples 125A,125B, or the frame 105.

FIGS. 2A and 2B are perspective views, from the rear, of examplehardware configurations of the eyewear device 100, including twodifferent types of image displays. The eyewear device 100 is sized andshaped in a form configured for wearing by a user; the form ofeyeglasses is shown in the example. The eyewear device 100 can takeother forms and may incorporate other types of frameworks; for example,a headgear, a headset, or a helmet.

In the eyeglasses example, eyewear device 100 includes a frame 105including a left rim 107A connected to a right rim 107B via a bridge 106adapted to be supported by a nose of the user. The left and right rims107A, 107B include respective apertures 175A, 175B, which hold arespective optical element 180A, 180B, such as a lens and a displaydevice. As used herein, the term “lens” is meant to include transparentor translucent pieces of glass or plastic having curved or flat surfacesthat cause light to converge/diverge or that cause little or noconvergence or divergence.

Although shown as having two optical elements 180A, 180B, the eyeweardevice 100 can include other arrangements, such as a single opticalelement (or it may not include any optical element 180A, 180B),depending on the application or the intended user of the eyewear device100. As further shown, eyewear device 100 includes a left corner 110Aadjacent the left lateral side 170A of the frame 105 and a right corner110B adjacent the right lateral side 170B of the frame 105. The corners110A, 110B may be integrated into the frame 105 on the respective sides170A, 170B (as illustrated) or implemented as separate componentsattached to the frame 105 on the respective sides 170A, 170B.Alternatively, the corners 110A, 110B may be integrated into temples(not shown) attached to the frame 105.

In one example, the image display of optical assembly 180A, 180Bincludes an integrated image display. As shown in FIG. 2A, each opticalassembly 180A, 180B includes a suitable display matrix 177, such as aliquid crystal display (LCD), an organic light-emitting diode (OLED)display, or any other such display. Each optical assembly 180A, 180Balso includes an optical layer or layers 176, which can include lenses,optical coatings, prisms, mirrors, waveguides, optical strips, and otheroptical components in any combination. The optical layers 176A, 176B, .. . 176N (shown as 176A-N in FIG. 2A and herein) can include a prismhaving a suitable size and configuration and including a first surfacefor receiving light from a display matrix and a second surface foremitting light to the eye of the user. The prism of the optical layers176A-N extends over all or at least a portion of the respectiveapertures 175A, 175B formed in the left and right rims 107A, 107B topermit the user to see the second surface of the prism when the eye ofthe user is viewing through the corresponding left and right rims 107A,107B. The first surface of the prism of the optical layers 176A-N facesupwardly from the frame 105 and the display matrix 177 overlies theprism so that photons and light emitted by the display matrix 177impinge the first surface. The prism is sized and shaped so that thelight is refracted within the prism and is directed toward the eye ofthe user by the second surface of the prism of the optical layers176A-N. In this regard, the second surface of the prism of the opticallayers 176A-N can be convex to direct the light toward the center of theeye. The prism can optionally be sized and shaped to magnify the imageprojected by the display matrix 177, and the light travels through theprism so that the image viewed from the second surface is larger in oneor more dimensions than the image emitted from the display matrix 177.

In one example, the optical layers 176A-N may include an LCD layer thatis transparent (keeping the lens open) unless and until a voltage isapplied which makes the layer opaque (closing or blocking the lens). Theimage processor 412 on the eyewear device 100 may execute programming toapply the voltage to the LCD layer in order to produce an active shuttersystem, making the eyewear device 100 suitable for viewing visualcontent when displayed as a three-dimensional projection. Technologiesother than LCD may be used for the active shutter mode, including othertypes of reactive layers that are responsive to a voltage or anothertype of input.

In another example, the image display device of optical assembly 180A,180B includes a projection image display as shown in FIG. 2B. Eachoptical assembly 180A, 180B includes a laser projector 150, which is athree-color laser projector using a scanning mirror or galvanometer.During operation, an optical source such as a laser projector 150 isdisposed in or on one of the temples 125A, 125B of the eyewear device100. Optical assembly 180B in this example includes one or more opticalstrips 155A, 155B, . . . 155N (shown as 155A-N in FIG. 2B) which arespaced apart and across the width of the lens of each optical assembly180A, 180B or across a depth of the lens between the front surface andthe rear surface of the lens.

As the photons projected by the laser projector 150 travel across thelens of each optical assembly 180A, 180B, the photons encounter theoptical strips 155A-N. When a particular photon encounters a particularoptical strip, the photon is either redirected toward the user's eye, orit passes to the next optical strip. A combination of modulation oflaser projector 150, and modulation of optical strips, may controlspecific photons or beams of light. In an example, a processor controlsoptical strips 155A-N by initiating mechanical, acoustic, orelectromagnetic signals. Although shown as having two optical assemblies180A, 180B, the eyewear device 100 can include other arrangements, suchas a single or three optical assemblies, or each optical assembly 180A,180B may have arranged different arrangement depending on theapplication or intended user of the eyewear device 100.

As further shown in FIGS. 2A and 2B, eyewear device 100 includes a leftcorner 110A adjacent the left lateral side 170A of the frame 105 and aright corner 110B adjacent the right lateral side 170B of the frame 105.The corners 110A, 110B may be integrated into the frame 105 on therespective lateral sides 170A, 170B (as illustrated) or implemented asseparate components attached to the frame 105 on the respective sides170A, 170B. Alternatively, the corners 110A, 110B may be integrated intotemples 125A, 125B attached to the frame 105.

In another example, the eyewear device 100 shown in FIG. 2B may includetwo projectors, a left projector 150A (not shown) and a right projector150B (shown as projector 150). The left optical assembly 180A mayinclude a left display matrix 177A (not shown) or a left set of opticalstrips 155′A, 155′B, . . . 155′N (155 prime, A through N, not shown)which are configured to interact with light from the left projector150A. Similarly, the right optical assembly 180B may include a rightdisplay matrix 177B (not shown) or a right set of optical strips 155″A,155″B, . . . 155″N (155 double-prime, A through N, not shown) which areconfigured to interact with light from the right projector 150B. In thisexample, the eyewear device 100 includes a left display and a rightdisplay.

FIG. 4A is a functional block diagram of an example augmented realitysystem 400 including a wearable device (e.g., an eyewear device 100),another electronic device 402, a mobile device 401, and a server system498 connected via various networks 495 such as the Internet. The system400 includes a low-power wireless connection 425 and a high-speedwireless connection 437 between the eyewear device 100 and a mobiledevice 401—and, in some examples, as shown, between the eyewear device100 and the other electronic device 402. The augmented reality system400 additionally includes speakers 191 a-d on the eyewear device 100 forguiding a user. The speakers 191 a-d may be controlled directly viaprocessor 432 or indirectly via an audio processor (not shown).

In one example, the other electronic device 402 is a remote device thatmay be a “smart device” (also referred to as an IoT device) including apower supply 652 (separate from that of the eyewear device), amicrocontroller 656 or processor, a high-speed network connection 654, amemory 658, and physical output devices 662 (such as, for example,illumination sources, airflow sources, etc.) (shown in FIG. 4C).

As shown in FIG. 4A, the eyewear device 100 includes one or morevisible-light cameras 114A, 114B that capture still images, video, orboth, as described herein. The cameras 114A, 114B may have a directmemory access (DMA) to high-speed circuitry 430 and function as a stereocamera. The cameras 114A, 114B may be used to capture initial-depthimages for rendering three-dimensional (3D) models that aretexture-mapped images of a red, green, and blue (RGB) imaged scene. Thedevice 100 may also include a depth sensor, which uses infrared signalsto estimate the position of objects relative to the device 100. Thedepth sensor in some examples includes one or more infrared emitter(s)415 and infrared camera(s) 410. The cameras and the depth sensor arenon-limiting examples of sensors in the eyewear device 100.

The eyewear device 100 further includes two image displays of eachoptical assembly 180A, 180B (one associated with the left side 170A andone associated with the right side 170B). The eyewear device 100 alsoincludes an image display driver 442, an image processor 412, low-powercircuitry 420, and high-speed circuitry 430. The image displays of eachoptical assembly 180A, 180B are for presenting images, including stillimages and video. The image display driver 442 is coupled to the imagedisplays of each optical assembly 180A, 180B in order to control thedisplay of images.

The components shown in FIG. 4A for the eyewear device 100 are locatedon one or more circuit boards, for example, a printed circuit board(PCB) or flexible printed circuit (FPC), located in the rims or temples.Alternatively, or additionally, the depicted components can be locatedin the corners, frames, hinges, or bridge of the eyewear device 100.Left and right visible-light cameras 114A, 114B can include digitalcamera elements such as a complementary metal-oxide-semiconductor (CMOS)image sensor, a charge-coupled device, a lens, or any other respectivevisible or light capturing elements that may be used to capture data,including still images or video of scenes with unknown objects.

As shown in FIG. 4A, high-speed circuitry 430 includes a high-speedprocessor 432, a memory 434, and high-speed wireless circuitry 436. Inthe example, the image display driver 442 is coupled to the high-speedcircuitry 430 and operated by the high-speed processor 432 in order todrive the left and right image displays of each optical assembly 180A,180B. High-speed processor 432 may be any processor capable of managinghigh-speed communications and operation of any general computing systemneeded for eyewear device 100. High-speed processor 432 includesprocessing resources needed for managing high-speed data transfers onhigh-speed wireless connection 437 to a wireless local area network(WLAN) using high-speed wireless circuitry 436.

In some examples, the high-speed processor 432 executes an operatingsystem such as a LINUX operating system or other such operating systemof the eyewear device 100 and the operating system is stored in memory434 for execution. In addition to any other responsibilities, thehigh-speed processor 432 executes a software architecture for theeyewear device 100 that is used to manage data transfers with high-speedwireless circuitry 436. In some examples, high-speed wireless circuitry436 is configured to implement Institute of Electrical and ElectronicEngineers (IEEE) 802.11 communication standards, also referred to hereinas Wi-Fi. In other examples, other high-speed communications standardsmay be implemented by high-speed wireless circuitry 436.

The low-power circuitry 420 includes a low-power processor 422 andlow-power wireless circuitry 424. The low-power wireless circuitry 424and the high-speed wireless circuitry 436 of the eyewear device 100 caninclude short-range transceivers (BluetoothTM or Bluetooth Low-Energy(BLE)) and wireless wide, local, or wide-area network transceivers(e.g., cellular or WiFi). Mobile device 401, including the transceiverscommunicating via the low-power wireless connection 425 and thehigh-speed wireless connection 437, may be implemented using details ofthe architecture of the eyewear device 100, as can other elements of thenetwork 495.

Memory 434 includes any storage device capable of storing various dataand applications, including, among other things, camera data generatedby the left and right visible-light cameras 114A, 114B, the infraredcamera(s) 410, the image processor 412, and images generated for displayby the image display driver 442 on the image display of each opticalassembly 180A, 180B. Although the memory 434 is shown as integrated withhigh-speed circuitry 430, the memory 434 in other examples may be anindependent, standalone element of the eyewear device 100. In certainsuch examples, electrical routing lines may provide a connection througha chip that includes the high-speed processor 432 from the imageprocessor 412 or low-power processor 422 to the memory 434. In otherexamples, the high-speed processor 432 may manage addressing of memory434 such that the low-power processor 422 will boot the high-speedprocessor 432 any time that a read or write operation involving memory434 is needed.

As shown in FIG. 4A, the high-speed processor 432 of the eyewear device100 can be coupled to the camera system (visible-light cameras 114A,114B), the image display driver 442, the user input device 491, and thememory 434. As shown in FIG. 5 , the CPU 530 of the mobile device 401may be coupled to a camera system 570, a mobile display driver 582, auser input layer 591, and a memory 540A.

The server system 498 may be one or more computing devices as part of aservice or network computing system, for example, that include aprocessor, a memory, and network communication interface to communicateover the network 495 with an eyewear device 100 and a mobile device 401.

The output components of the eyewear device 100 include visual elements,such as the left and right image displays associated with each lens oroptical assembly 180A, 180B as described in FIGS. 2A and 2B (e.g., adisplay such as a liquid crystal display (LCD), a plasma display panel(PDP), a light emitting diode (LED) display, a projector, or awaveguide). The image displays may each have a display area thatcorresponds to the field of view obtained by the camera(s) 114.

The eyewear device 100 may include a user-facing indicator (e.g., anLED, a loudspeaker, or a vibrating actuator), an outward-facing signal(e.g., an LED, a loudspeaker), or both. The image displays of eachoptical assembly 180A, 180B are driven by the image display driver 442.In some example configurations, the output components of the eyeweardevice 100 further include additional indicators such as audibleelements (e.g., loudspeakers), tactile components (e.g., an actuatorsuch as a vibratory motor to generate haptic feedback), and other signalgenerators. For example, the device 100 may include a user-facing set ofindicators, and an outward-facing set of signals. The user-facing set ofindicators are configured to be seen or otherwise sensed by the user ofthe device 100. For example, the device 100 may include an LED displaypositioned so the user can see it, one or more speakers positioned togenerate a sound the user can hear, or an actuator to provide hapticfeedback the user can feel. The outward-facing set of signals areconfigured to be seen or otherwise sensed by an observer near the device100. Similarly, the device 100 may include an LED, a loudspeaker, or anactuator that is configured and positioned to be sensed by an observer.

The input components of the eyewear device 100 may include alphanumericinput components (e.g., a touch screen or touchpad configured to receivealphanumeric input, a photo-optical keyboard, or otheralphanumeric-configured elements), pointer-based input components (e.g.,a mouse, a touchpad, a trackball, a joystick, a motion sensor, or otherpointing instruments), tactile input components (e.g., a button switch,a touch screen or touchpad that senses the location, force, or locationand force of touches or touch gestures, or other tactile-configuredelements), and audio input components (e.g., a microphone), and thelike. The mobile device 401 and the server system 498 may includealphanumeric, pointer-based, tactile, audio, and other input components.

In some examples, the eyewear device 100 includes a collection ofmotion-sensing components referred to as an inertial measurement unit472. The motion-sensing components may be micro-electro-mechanicalsystems (MEMS) with microscopic moving parts, often small enough to bepart of a microchip. The inertial measurement unit (IMU) 472 in someexample configurations includes an accelerometer, a gyroscope, and amagnetometer. The accelerometer senses the linear acceleration of thedevice 100 (including the acceleration due to gravity) relative to threeorthogonal axes (x, y, z). The gyroscope senses the angular velocity ofthe device 100 about three axes of rotation (pitch, roll, yaw).Together, the accelerometer and gyroscope can provide position,orientation, and motion data about the device relative to six axes (x,y, z, pitch, roll, yaw). The magnetometer, if present, senses theheading of the device 100 relative to magnetic north. Additionally, oralternatively, the position of the eyewear device 100 may be determinedby comparing images captured by, for example, cameras 114 and comparingthose images to previously captured images having known positionalinformation. Thus, the position of the device 100 may be determined bylocation sensors, such as image information gathered by cameras 114, aGPS receiver, one or more transceivers to generate relative positioncoordinates, altitude sensors or barometers, or other orientationsensors. Such positioning system coordinates can also be received overthe wireless connections 425, 437 from the mobile device 401 via thelow-power wireless circuitry 424 or the high-speed wireless circuitry436.

The IMU 472 may include or cooperate with a digital motion processor orprogramming that gathers the raw data from the components and compute anumber of useful values about the position, orientation, and motion ofthe device 100. For example, the acceleration data gathered from theaccelerometer can be integrated to obtain the velocity relative to eachaxis (x, y, z); and integrated again to obtain the position of thedevice 100 (in linear coordinates, x, y, and z). The angular velocitydata from the gyroscope can be integrated to obtain the position of thedevice 100 (in spherical coordinates). The programming for computingthese useful values may be stored in memory 434 and executed by thehigh-speed processor 432 of the eyewear device 100.

The eyewear device 100 may optionally include additional peripheralsensors, such as biometric sensors, specialty sensors, or displayelements integrated with eyewear device 100. For example, peripheraldevice elements may include any I/O components including outputcomponents, motion components, position components, or any other suchelements described herein. For example, the biometric sensors mayinclude components to detect expressions (e.g., hand expressions, facialexpressions, vocal expressions, body gestures, or eye tracking), tomeasure biosignals (e.g., blood pressure, heart rate, body temperature,perspiration, or brain waves), or to identify a person (e.g.,identification based on voice, retina, facial characteristics,fingerprints, or electrical biosignals such as electroencephalogramdata), and the like.

The mobile device 401 may be a smartphone, tablet, laptop computer,access point, or any other such device capable of connecting witheyewear device 100 using both a low-power wireless connection 425 and ahigh-speed wireless connection 437. Mobile device 401 is connected toserver system 498 and network 495. The network 495 may include anycombination of wired and wireless connections.

In some examples, the devices 100, 401, 402 illustrated in FIG. 4A areconfigured to cooperate and share the processing demand when performingany of the functions described herein. For example, the other electronicdevice 402, may be configured to detect an interaction, such as awireless signal from the device 100, and process the interaction todetermine relative proximity. If within a predefined range, theelectronic device 402 sends an application programming interface (API)to the eyewear device 100, at which point the eyewear device 100 takesover the task of performing additional functions. Additional functionsmay also be performed by the mobile device 401. In this aspect, theaugmented reality system 400 distributes, shares, and manages theprocessing demand such that the functions described herein are performedefficiently and effectively.

The augmented reality system 400, as shown in FIG. 4A, includes acomputing device, such as mobile device 401, coupled to an eyeweardevice 100 and another remote electronic device 402 over a network. Theaugmented reality system 400 includes a memory for storing instructionsand a processor for executing the instructions. Execution of theinstructions of the augmented reality system 400 by the processor 432configures the eyewear device 100 to cooperate with the other electronicdevice 402 or the mobile device 401. The system 400 may utilize thememory 434 of the eyewear device 100 or the memory elements 540A, 540B,540C of the mobile device 401 (FIG. 5 ) or the memory 658 of the otherelectronic device 402 (FIG. 4C). Also, the system 400 may utilize theprocessor elements 432, 422 of the eyewear device 100 or the centralprocessing unit (CPU) 530 of the mobile device 401 (FIG. 5 ) or themicroprocessor 656 of the other electronic device 402. In addition, thesystem 400 may further utilize the memory and processor of the serversystem 498. In this aspect, the memory and processing functions of theaugmented reality system 400 can be shared or distributed across theeyewear device 100, the mobile device 401, the other electronic device402, and the server system 498.

In some examples, a portion of the memory 434 is used to store an objectdatabase 480 (see FIG. 4B) while another portion of the memory 434 hasprogramming stored therein, which when executed by the processor 432provides an object identifier 482 (see FIG. 4B). The flowchart shown inFIG. 4B illustrates such an example.

In some examples, the object database 480 is initially stored in amemory of the server system 498 and the memory 434 has programmingstored in, which when executed by the processor 432 causes the eyeweardevice to access the server system 498, retrieve all or a portion of theobject database 480 from the server system 498 and store the retrievedobject database 480 in the memory 434.

FIG. 5 is a high-level functional block diagram of an example mobiledevice 401. Mobile device 401 includes a flash memory 540A that storesprogramming to be executed by the CPU 530 to perform all or a subset ofthe functions described herein.

The mobile device 401 may include a camera 570 that comprises at leasttwo visible-light cameras (first and second visible-light cameras withoverlapping fields of view) or at least one visible-light camera and adepth sensor with substantially overlapping fields of view. The mobiledevice 401 may further include an inertial measurement unit (IMU) 572.Flash memory 540A may further include multiple images or video, whichare generated via the camera 570.

As shown, the mobile device 401 includes an image display 580, a mobiledisplay driver 582 to control the image display 580, and a controller584. In the example of FIG. 5 , the image display 580 includes a userinput layer 591 (e.g., a touchscreen) that is layered on top of orotherwise integrated into the screen used by the image display 580.

Examples of touchscreen-type mobile devices that may be used include(but are not limited to) a smart phone, a personal digital assistant(PDA), a tablet computer, a laptop computer, or other portable device.The structure and operation of the touchscreen-type devices are providedby way of example and the subject technology as described herein is notintended to be limited thereto. For purposes of this discussion, FIG. 5therefore provides a block diagram illustration of the example mobiledevice 401 with a user interface that includes a touchscreen input layer591 for receiving input (by touch, multi-touch, or gesture, and thelike, by hand, stylus or other tool) and an image display 580 fordisplaying content.

As shown in FIG. 5 , the mobile device 401 includes at least one digitaltransceiver (XCVR) 510, shown as WWAN XCVRs, for digital wirelesscommunications via a wide-area wireless mobile communication network.The mobile device 401 also includes additional digital or analogtransceivers, such as short-range transceivers (XCVRs) 520 forshort-range network communication, such as via NFC, VLC, DECT, ZigBee,BluetoothTM, or WiFi. For example, short range XCVRs 520 may take theform of any available two-way wireless local area network (WLAN)transceiver of a type that is compatible with one or more standardprotocols of communication implemented in wireless local area networks,such as one of the Wi-Fi standards under IEEE 802.11.

To generate location coordinates for positioning of the mobile device401, the mobile device 401 can include image-based location systems anda global positioning system (GPS) receiver. Alternatively, oradditionally, the mobile device 401 can utilize either or both the shortrange XCVRs 520 and WWAN XCVRs 510 for generating location coordinatesfor positioning. For example, cellular network, Wi-Fi, or BluetoothTMbased positioning systems can generate very accurate locationcoordinates, particularly when used in combination. Such locationcoordinates can be transmitted to the eyewear device over one or morenetwork connections via XCVRs 510, 520.

The transceivers 510, 520 (i.e., the network communication interface)conforms to one or more of the various digital wireless communicationstandards utilized by modern mobile networks. Examples of WWANtransceivers 510 include (but are not limited to) transceiversconfigured to operate in accordance with Code Division Multiple Access(CDMA) and 3rd Generation Partnership Project (3GPP) networktechnologies including, for example and without limitation, 3GPP type 2(or 3GPP2) and LTE, at times referred to as “4G.” For example, thetransceivers 510, 520 provide two-way wireless communication ofinformation including digitized audio signals, still image and videosignals, web page information for display as well as web-related inputs,and various types of mobile message communications to/from the mobiledevice 401.

The mobile device 401 further includes a microprocessor that functionsas a central processing unit (CPU); shown as CPU 530 in FIG. 5 . Aprocessor is a circuit having elements structured and arranged toperform one or more processing functions, typically various dataprocessing functions. Although discrete logic components could be used,the examples utilize components forming a programmable CPU. Amicroprocessor for example includes one or more integrated circuit (IC)chips incorporating the electronic elements to perform the functions ofthe CPU. The CPU 530, for example, may be based on any known oravailable microprocessor architecture, such as a Reduced Instruction SetComputing (RISC) using an ARM architecture, as commonly used today inmobile devices and other portable electronic devices. Of course, otherarrangements of processor circuitry may be used to form the CPU 530 orprocessor hardware in smartphone, laptop computer, and tablet.

The CPU 530 serves as a programmable host controller for the mobiledevice 401 by configuring the mobile device 401 to perform variousoperations, for example, in accordance with instructions or programmingexecutable by CPU 530. For example, such operations may include variousgeneral operations of the mobile device, as well as operations relatedto the programming for applications on the mobile device. Although aprocessor may be configured by use of hardwired logic, typicalprocessors in mobile devices are general processing circuits configuredby execution of programming.

The mobile device 401 includes a memory or storage system, for storingprogramming and data. In the example, the memory system may include aflash memory 540A, a random-access memory (RAM) 540B, and other memorycomponents 540C, as needed. The RAM 540B serves as short-term storagefor instructions and data being handled by the CPU 530, e.g., as aworking data processing memory. The flash memory 540A typically provideslonger-term storage.

Hence, in the example of mobile device 401, the flash memory 540A isused to store programming or instructions for execution by the CPU 530.Depending on the type of device, the mobile device 401 stores and runs amobile operating system through which specific applications areexecuted. Examples of mobile operating systems include Google Android,Apple iOS (for iPhone or iPad devices), Windows Mobile, Amazon Fire OS,RIM BlackBerry OS, or the like.

The processor 432 within the eyewear device 100 may construct a map ofthe environment surrounding the eyewear device 100, determine a locationof the eyewear device within the mapped environment, and determine arelative position of the eyewear device to one or more objects in themapped environment. The processor 432 may construct the map anddetermine location and position information using a simultaneouslocalization and mapping (SLAM) algorithm applied to data received fromone or more sensors. Suitable algorithms including particle filter,extended Kalman filter, and covariance intersection methods. Algorithmsthat apply machine learning in SLAM are also within the scope of theseteachings. Additionally, the processor 432 may identify a targetlocation (associated with a location, a physical object, or a virtualobject) and guide the user of the eyewear device 100 toward the targetlocation using audio signal presented by speakers of the eyewear device100.

Sensor data includes images received from one or both of the cameras114A-B, distance received from a laser range finder, positioninformation received from a GPS unit, or a combination of two or more ofsuch sensor or other sensor providing data useful in determiningpositional information.

FIG. 6A depicts an example environment 600 from a rear perspective forimplementing natural feature tracking (NFT) and SLAM processing. A user602 of the eyewear device 100 is present in the environment 600 (whichis a room in FIG. 6 ). The processor 432 of the eyewear device 100determines its position with respect to one or more objects 604 withinthe environment 600 using captured images, constructs a map of theenvironment 600 using a coordinate system (x, y, z) for the environment600, and determines its position within the coordinate system.Additionally, the processor 432 determines a head pose (position, roll,pitch, and yaw) of the eyewear device 100 within the environment byusing two or more location points (e.g., three location points 606 a,606 b, and 606 c) on one or more objects 604 or by using one or morelocation points 606 on two or more objects 604. The processor 432 of theeyewear device 100 may position virtual objects such as key 608 withinthe environment for augmented reality viewing via image displays 180.

FIG. 6B depicts the example environment 600 from a top perspective. Asshown in the top perspective, the physical safe 604 c is to the frontright side of the user wearing the eyewear device 100 and the virtualkey 608 is to the rear right side of the user. Both objects 604 c/608are outside the field of view/display area of the eyewear device 100when facing substantially along the x-axis. As described below, theeyewear device 100 emits audio signals via the speakers 191 to guide theuser 602 today a target location, such as the location of the virtualkey 608.

FIGS. 7A and 7B show flow charts 700 and 712, respectively, depicting amethod for implementing augmented reality applications described hereinon a wearable device (e.g., an eyewear device). Although the steps aredescribed with reference to the eyewear device 100, as described herein,other implementations of the steps described, for other types ofdevices, will be understood by one of skill in the art from thedescription herein. Additionally, it is contemplated that one or more ofthe steps shown in FIGS. 7A and 7B and described herein may be omitted,performed simultaneously or in a series, performed in an order otherthan illustrated and described, or performed in conjunction withadditional steps.

At block 702, the eyewear device 100 captures images of the environment600 surrounding the eyewear device 100. The processor 432 maycontinuously receive images from the visible light camera(s) 114 andstore those images in memory 434 for processing. Additionally, theeyewear device may capture information from other sensors, e.g.,location information from a GPS sensor or distance information from alaser distance sensor.

At block 704, the eyewear device 100 compares objects in the capturedimages to objects in known images (previously captured images) toidentify a match. The processor 432 may compare object image data fromthe captured images stored in memory 434 to object image data of knownobjects in the object database 480 (FIG. 4B) to identify a match usingthe object identifier 482 (FIG. 4B), e.g., implementing a conventionalobject recognition algorithm or a neural network trained to identifyobjects. In one example, the processor 432 is programmed to identify apredefined particular object (e.g., a particular picture 604a hanging ina known location on a wall, a window 604 b in another wall, and a heavyobject such as a safe 604 c positioned on the floor). Other sensor data,such as GPS data, may be used to narrow down the number of known objectsfor use in the comparison (e.g., only images associated with a roomidentified through GPS coordinates). In another example, the processor432 is programmed to identify predefined general objects (such as one ormore trees within a park).

At block 706, the eyewear device 100 determines its position withrespect to the object(s) (i.e., location and orientation). The processor432 may determine its position with respect to the objects by comparingand processing distances between two or more points in the capturedimages (e.g., between two or more location points on one objects 604 orbetween a location point 606 on each of two objects 604) to knowndistances between corresponding points in the identified objects.Distances between the points of the captured images that are greaterthan the points of the identified objects indicate the eyewear device100 is closer to the identified object than the imager that captured theimage including the identified object. On the other hand, distancesbetween the points of the captured images that are less than the pointsof the identified objects indicate the eyewear device 100 is furtherfrom the identified object than the imager that captured the imageincluding the identified object. By processing the relative distances,the processor 432 is able to determine the position (i.e., location andorientation) within respect to the objects(s). Alternatively, oradditionally, other sensor information, such as laser distance sensorinformation, may be used to determine position with respect to theobject(s).

For location, the eyewear device 100 constructs a map of an environment600 surrounding the eyewear device 100 and determines its locationwithin the environment. In one example, where the identified object(block 704) has a predefined coordinate system (x, y, z), the processor432 of the eyewear device 100 constructs the map using that predefinedcoordinate system and periodically determines its location within thatcoordinate system with respect to the identified objects. In anotherexample, the eyewear device constructs a map using images of permanentor semi-permanent objects 604 within an environment (e.g., a tree or apark bench within a park). In accordance with this example, the eyeweardevice 100 may define the coordinate system (x′, y′, z′) used for theenvironment. The eyewear device 100 may periodically determine itslocation through NFT and SLAM processing. Additionally, oralternatively, other technique may be used to determine location such asGPS signals received by a GPS receiver.

For orientation, the eyewear device 100 determines a head pose (roll,pitch, and yaw) of the eyewear device 100 within the environment, e.g.,also through SLAM processing. The processor 432 may determine head poseby using two or more location points (e.g., three location points 606 a,606 b, and 606 c) on one or more objects 604 or by using one or morelocation points 606 on two or more objects 604. Using conventional imageprocessing algorithms, the processor 432 determines roll, pitch, and yawby comparing the angle and length of lines extending between thelocation points for the for the captured images and the known images.The eyewear device 100 may periodically determine its orientationthrough NFT and SLAM processing. Additionally, or alternatively, othertechnique may be used to determine orientation such as through signalsreceived from IMU 472.

At block 708, identify a target location within the environment. Thetarget location may be a predefined location stored in memory for theenvironment, in which case the processor 432 retrieves the targetlocation from memory. The predefined target location may be associatedwith a physical object (such as the safe 604c) or a virtual object (suchas the key 608). Alternatively, the target location may be a randomlocation selected from locations within the environment that are outsidethe field of view of the eyewear device 100 or are hidden behind or inphysical objects, in which case the processor 432 may apply a pseudorandom number generation algorithm to locations meeting predefinedcriteria to identify the target location.

At block 710, monitor the orientation of the device with respect to thetarget location. The processor 432 may monitor the orientation of theeyewear device 100 as described above for determining orientation as apart of determining position (block 706) and compare the currentorientation to the target location using a geometric algorithm to obtainan angular position. The angular position represents a relative positionof the eyewear device 100 to the target location and is associate with adirectional audio zone, e.g., the target location is to the right of theeyewear device (e.g., angular position of 67.5 degree to 112.5 degrees;directional audio zone 1), to the right and back of the eyewear device100 (e.g., angular position of 112.5 degrees to 167.5 degrees;directional audio zone 2), or behind the eyewear device 100 (e.g.,angular position of 167.5 degrees to 102.5 degrees; directional audiozone 3). The processor 432 stores the directional audio zones for theangular ranges in memory 434, e.g., in a lookup table.

At block 712, present audio signals responsive to the monitoredorientation. The processor 432 presents the audio signals selectivelythrough speakers 191 of the eyewear device 100 based on the currentorientation of the eyewear device 100 with respect to the targetlocation.

In one example, with reference to the flow chart depicted in FIG. 7B, atblock 712a, the processor 432 determines a current orientation of theeyewear device 100 (e.g., as described above with reference to blocks706 and 710). The current orientation may be represented as an angularposition. At block 712 b, the processor 432 selects one of thedirectional audio zones, e.g., by comparing the angular position toangular ranges associated with each of the directional audio zones andselecting the directional audio zone associated with a range containingthe angular position. For example, if the angular position is 90 degrees(indicating the target location is to the right of the eyewear device100), the processor 432 will select audio zone 1. At block 712 c, theprocessor 432 presents the audio signal by selectively presenting theaudio signal via the speakers 191 responsive to the orientation. Forexample, if directional audio zone 1 is selected in block 712 b due toan angular position of 90 degrees, the processor 432 emits the audiosignal via both speaker 191 b and 191 d (which is interpreted by theuser as coming from the right side of the eyewear device 100).Similarly, if directional audio zone 2 is selected in block 712 b due toan angular position of 112.5 degrees, the processor 432 emits the audiosignal via only speaker 191 d (which is interpreted by the user ascoming from the right rear of the eyewear device 100).

Additionally, the processor 432 may adjust the volume of the audiosignal responsive to the relative location between the current locationof the eyewear device 100 and the target location. For example, if thetarget location is relatively far away, e.g., 20 feet, the volume may bereduced such that it is very low or inaudible. As the eyewear device 100moves closer to the target location, the processor 432 increases thevolume, thereby providing an indication to the user that they aregetting closer to the target location. As the eyewear device 100 movesaway from the target location, the processor 432 decreases the volume,thereby providing an indication to the user that they are moving awayfrom the target location.

At blocks 714 and 716, determine when the target location is within thedevice's field of view/display area and present a virtual objectassociated with the target location. The processor 432 may determinewhen the target location is within the field of view of the eyeweardevice 100 by comparing the angular position (block 712c) to a rangeassociated with the device's field of view, e.g., −15 degrees to +15degrees. When the target location is within the field of view of theeyewear device 100, the processor 432 presents an image overlayincluding the virtual object via a display of the eyewear device 100using the image processor 412 and the image display driver 442 of theeyewear device 100. As the eyewear device 100 moves through theenvironment, the processor 432 updates the image overlay on the opticalassemblies 180 such that the virtual object appears at the targetlocation while the target location is within the field of view. When thetarget location moves out of the field of view, the virtual object is nolonger presented.

The steps described above with reference to blocks 710-712 (and, if avirtual overlay is to be presented, blocks 714-716) are repeated toupdate the position of the eyewear device 100 and adjust thepresentation of the audio signal (and optionally the virtual object) asthe eyewear device 100 moves through the environment 600 to guide theuser to the target location.

FIG. 8 depicts a flow diagram of an example process for setting up theeyewear device 100 for use in a given environment. To set up the eyeweardevice 100, the eyewear device 100 or other device with similarlypositioned cameras, at block 802, captures images of the surroundingenvironment in which the eyewear device is going to be used along withlocation coordinates, and a map of the surrounding environment isconstructed. From the images and the map, at block 804, objects andfeatures are identified. This identification can be performed by taggingareas of the image at identified pixel locations. Alternately, a featurecan be associated with a marker, e.g., stored in a metadata header,described by proximity relationship to other features. The images/map ofthe surrounding environment and the identified object and features arestored in a digital memory at block 806.

FIGS. 6A, 6B, 9A, 9B, and 9C are images for use in describing oneexample. In the example shown in FIGS. 6A, 6B, 9A, 9B, and 9C, a user602 wearing an eyewear device 100 enters an environment (e.g., a room inthe illustrated example). The eyewear device 100 captures images withinthe environment. The eyewear device 100 identifies objects/featureswithin the images such as a picture 604a and a window 604b. Using NFTand SLAM processing, the eyewear device 100 determines its position(location/orientation) within the environment with respect to theobject/features. The eyewear device 100 additionally determines a targetlocation, e.g., a location within the environment that may be associatedwith an object such as a virtual key 608. Using the techniques describedherein eyewear device 100 guides the user to the target location byselectively emitting audio signals from speakers 191 a-d positioned onthe eyewear device 100 to generate directional audio zones.

In FIG. 9B, the target location is directly to the right of the eyeweardevice 100. The eyewear device 100 determines the angular position ofthe eyewear device 100 with respect to the target location and selects adirectional audio zone associated with speakers 191 b and 191 d causingspeakers 191 b and 191 d to emit audio signals 900 a and 900 b,respectively. The user interprets audio signals 900 a and 900 b ascoming from the right and is thereby guided toward the virtual key 608on the right.

In FIG. 9C, the target location is to the rear and left of the eyeweardevice 100. The eyewear device 100 determines the angular position ofthe eyewear device 100 with respect to the target location and selects adirectional audio zone associated with speaker 191 c causing speakers191 c to emit audio signal 900 c. The user interprets audio signal 900 cas coming from the rear and left and is thereby guided toward thevirtual key 608 to the rear and left. Additionally, because the targetlocation in FIG. 9C is closer to the eyewear device 100 than in FIG. 9B,the volume of audio signal 900c may be louder to indicate that theeyewear device 100 is now closer to the target location.

The functionality described herein for the eyewear device 100, themobile device 401, the remote device 402, and the server system 498 canbe embodied in one or more computer software applications or sets ofprogramming instructions, as described herein. According to someexamples, “function,” “functions,” “application,” “applications,”“instruction,” “instructions,” or “programming” are program(s) thatexecute functions defined in the programs. Various programming languagescan be employed to produce one or more of the applications, structuredin a variety of manners, such as obj ect-oriented programming languages(e.g., Objective-C, Java, or C++) or procedural programming languages(e.g., C or assembly language). In a specific example, a third-partyapplication (e.g., an application developed using the ANDROIDTM or IOSTMsoftware development kit (SDK) by an entity other than the vendor of theparticular platform) may include mobile software running on a mobileoperating system such as IOSTM, ANDROIDTM, WINDOWS® Phone, or anothermobile operating systems. In this example, the third-party applicationcan invoke API calls provided by the operating system to facilitatefunctionality described herein.

Hence, a machine-readable medium may take many forms of tangible storagemedium. Non-volatile storage media include, for example, optical ormagnetic disks, such as any of the storage devices in any computerdevices or the like, such as may be used to implement the client device,media gateway, transcoder, etc. shown in the drawings. Volatile storagemedia include dynamic memory, such as main memory of such a computerplatform. Tangible transmission media include coaxial cables; copperwire and fiber optics, including the wires that comprise a bus within acomputer system. Carrier-wave transmission media may take the form ofelectric or electromagnetic signals, or acoustic or light waves such asthose generated during radio frequency (RF) and infrared (IR) datacommunications. Common forms of computer-readable media thereforeinclude for example: a floppy disk, a flexible disk, hard disk, magnetictape, any other magnetic medium, a CD-ROM, DVD or DVD-ROM, any otheroptical medium, punch cards paper tape, any other physical storagemedium with patterns of holes, a RAM, a PROM and EPROM, a FLASH-EPROM,any other memory chip or cartridge, a carrier wave transporting data orinstructions, cables or links transporting such a carrier wave, or anyother medium from which a computer may read programming code or data.Many of these forms of computer readable media may be involved incarrying one or more sequences of one or more instructions to aprocessor for execution.

Except as stated immediately above, nothing that has been stated orillustrated is intended or should be interpreted to cause a dedicationof any component, step, feature, object, benefit, advantage, orequivalent to the public, regardless of whether it is or is not recitedin the claims.

It will be understood that the terms and expressions used herein havethe ordinary meaning as is accorded to such terms and expressions withrespect to their corresponding respective areas of inquiry and studyexcept where specific meanings have otherwise been set forth herein.Relational terms such as first and second and the like may be usedsolely to distinguish one entity or action from another withoutnecessarily requiring or implying any actual such relationship or orderbetween such entities or actions. The terms “comprises,” “comprising,”“includes,” “including,” or any other variation thereof, are intended tocover a non-exclusive inclusion, such that a process, method, article,or apparatus that comprises or includes a list of elements or steps doesnot include only those elements or steps but may include other elementsor steps not expressly listed or inherent to such process, method,article, or apparatus. An element preceded by “a” or “an” does not,without further constraints, preclude the existence of additionalidentical elements in the process, method, article, or apparatus thatcomprises the element.

Unless otherwise stated, any and all measurements, values, ratings,positions, magnitudes, sizes, and other specifications that are setforth in this specification, including in the claims that follow, areapproximate, not exact. Such amounts are intended to have a reasonablerange that is consistent with the functions to which they relate andwith what is customary in the art to which they pertain. For example,unless expressly stated otherwise, a parameter value or the like mayvary by as much as plus or minus ten percent from the stated amount orrange.

In addition, in the foregoing Detailed Description, it can be seen thatvarious features are grouped together in various examples for thepurpose of streamlining the disclosure. This method of disclosure is notto be interpreted as reflecting an intention that the claimed examplesrequire more features than are expressly recited in each claim. Rather,as the following claims reflect, the subject matter to be protected liesin less than all features of any single disclosed example. Thus, thefollowing claims are hereby incorporated into the Detailed Description,with each claim standing on its own as a separately claimed subjectmatter.

While the foregoing has described what are considered to be the bestmode and other examples, it is understood that various modifications maybe made therein and that the subject matter disclosed herein may beimplemented in various forms and examples, and that they may be appliedin numerous applications, only some of which have been described herein.It is intended by the following claims to claim any and allmodifications and variations that fall within the true scope of thepresent concepts.

What is claimed is:
 1. A method for use with a device configured to behead mounted on a user, the device comprising a processor, at least oneimage sensor, and at least one speaker that produces at least threedirectional audio zones, the method comprising: capturing, using the atleast one image sensor, images in an environment of the device;identifying at least one of an object or feature within the capturedimages; orienting the device with respect to at least one object orfeature in the environment by identifying a match between the at leastone object or feature in the captured images and at least one storedobject or feature in previously obtained information including positioninformation for location points associated with the at least one objector feature; determining a position of the device within the environmentwith respect to a first matched object or feature; determining a targetlocation within the environment that may be associated with the firstmatched object or feature; determining a current orientation of thedevice with respect to the target location; and selectively emittingaudio signals from the at least one speaker in respective directionalaudio zones responsive to the current orientation to guide the user tothe target location.
 2. The method of claim 1, wherein the determiningthe position of the device includes identifying at least two locationpoints associated with the first matched object or feature, determininga relative position between the at least two location points associatedwith the first matched object or feature in the captured images andcorresponding location points for the first matched object or feature inthe previously obtained information, and calculating the position of thedevice from the determined relative position and the positioninformation for the corresponding location points.
 3. The method ofclaim 1, further comprising adjusting a volume of the audio signals toindicate a distance of the device from the target location.
 4. Themethod of claim 1, wherein the determining the position of the deviceincludes: determining a location of the device within the environment;and determining an initial orientation of the device at the determinedlocation.
 5. The method of claim 1, wherein the at least one imagesensor has a field of view, the device further comprises a displayhaving a viewing area corresponding to the field of view, the targetlocation is associated with a virtual object, and wherein the methodfurther comprises: determining when the target location is within thefield of view; and presenting, on the display, the virtual object in thetarget location within the field of view.
 6. The method of claim 5,wherein the determining the target location within the environmentcomprises: generating a random location within the environment outsidethe field of view; and identifying the random location as the targetlocation.
 7. The method of claim 1, wherein the determining the targetlocation within the environment comprises: retrieving a locationassociated with the environment from memory; and identifying theretrieved location as the target location.
 8. The method of claim 1,wherein the device further comprises a wireless communication componentthat is operatively connected to a server system through a network, theserver system storing the previously obtained information, and whereinthe method further comprises: retrieving the previously obtainedinformation from the server system; and storing the previously obtainedinformation in a memory of the device.
 9. The method of claim 8, whereinthe device further comprises a global positioning sensor (GPS) andwherein the method further comprises: receiving GPS locationinformation; requesting the previously obtained information from theserver system using the GPS location information, wherein the previouslyobtained information corresponds to the GPS location information; andreceiving the requested previously obtained information corresponding tothe GPS location information.
 10. A device configured to be head mountedon a user, comprising: a frame having a first side and a second side; afirst temple extending from a first side of the frame, the first templehaving a proximal end adjacent the first side of the frame and a distalend; a second temple extending from a second side of the frame, thesecond temple having a proximal end adjacent the second side of theframe and a distal end; a processor; a memory; at least one imagesensor; at least one speaker that produces at least three directionalaudio zones; and programming in the memory, wherein execution of theprogramming by the processor configures the device to perform functions,including functions to: capture, using the at least one image sensor,images in an environment of the device; identify at least one of anobject or feature within the captured images; orient the device withrespect to at least one object or feature in the environment byidentifying a match between the at least one object or feature in thecaptured images and at least one stored object or feature in previouslyobtained information including position information for location pointsassociated with the at least one object or feature; determine a positionof the device within the environment with respect to a first matchedobject or feature; determine a target location within the environmentthat may be associated with the first matched object or feature;determine a current orientation of the device with respect to the targetlocation; and selectively emit audio signals from the at least onespeaker in respective directional audio zones responsive to the currentorientation to guide the user to the target location.
 11. The device ofclaim 10, wherein the function to determine the position of the deviceincludes functions to: identify at least two location points associatedwith the first matched object or feature; determine a relative positionbetween the at least two location points associated with the firstmatched object or feature in the captured images and correspondinglocation points for the first matched object or feature in thepreviously obtained information; and calculate the position of thedevice from the determined relative position and the positioninformation for the corresponding location points.
 12. The device ofclaim 10, wherein the programming in the memory further comprisesinstructions that, when executed by the processor, configure the deviceto adjust a volume of the audio signals to indicate a distance of thedevice from the target location.
 13. The device of claim 10, wherein theprogramming in the memory further comprises instructions that, whenexecuted by the processor, configure the device to orient the devicewith respect to the at least one object or feature in the environment byperforming functions to: identify a match between the at least oneobject or feature in the captured images and at least one stored objector feature in previously obtained information; and determine a positionof the device within the environment with respect to the at least onematched object or feature.
 14. The device of claim 10, wherein thefunction to determine the position of the device includes functions to:determine a location of the device within the environment; and determinean initial orientation of the device at the determined location.
 15. Thedevice of claim 10, wherein the at least one image sensor has a field ofview, the device further comprises a display having a viewing areacorresponding to the field of view, the target location is associatedwith a virtual object, and wherein the programming in the memory furthercomprises instructions that, when executed by the processor, configurethe device to perform additional functions, including functions to:determine when the target location is within the field of view; andpresent, on the display, the virtual object in the target locationwithin the field of view.
 16. The device of claim 15, wherein thefunction to determine the target location within the environmentincludes functions to: generate a random location within the environmentoutside the field of view; and identify the random location as thetarget location.
 17. The device of claim 10, wherein the function todetermine the target location within the environment includes functionsto: retrieve a location associated with the environment from the memory;and identify the retrieved location as the target location.
 18. Thedevice of claim 10, further comprising a wireless communicationcomponent that is operatively connected to a server system through anetwork, wherein the previously obtained information is stored inanother memory in the server system, and wherein programming in thememory, when executed by the processor, configures the device to accessthe server system, retrieve the previously obtained information from theserver system, and store the previously obtained information in thememory.
 19. The device of claim 18, further comprising a globalpositioning sensor (GPS), wherein programming in the memory, whenexecuted by the processor, configures the device to perform additionalfunctions, including functions to: receive GPS location information;request the previously obtained information from the server system usingthe GPS location information, wherein the previously obtainedinformation corresponds to the GPS location information; and receive therequested previously obtained information corresponding to the GPSlocation information.
 20. A non-transitory computer-readable mediumstoring program code for use with a device configured to be head mountedon a user, the device comprising a processor, at least one image sensor,and at least one speaker that produces at least three directional audiozones, the program code, when executed, is operative to cause theprocessor to: capture, using the at least one image sensor, images in anenvironment of the device; identify at least one of an object or featurewithin the captured images; orient the device with respect to the atleast one object or feature by identifying a match between the at leastone object or feature in the captured images and at least one storedobject or feature in previously obtained information including positioninformation for location points associated with the at least one objector feature; determine a position of the device within the environmentwith respect to a first matched object or feature; determine a targetlocation within the environment that may be associated with the firstmatched object or feature; determine a current orientation of the devicewith respect to the target location; and selectively emit audio signalsfrom the at least one speaker in respective directional audio zonesresponsive to the current orientation to guide the user to the targetlocation.